\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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%
%

\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (86bp,370bp) [state] {$\{q_{3}\}$};
  \node (q1) at (46bp,282bp) [state] {$\{q_{4},q_{2},q_{7},q_{0}\}$};
  \node (q4) at (51bp,18bp) [state] {$\{q_{6}\}$};
  \node (q2) at (79bp,194bp) [state] {$\{q_{1}\}$};
  \node (q3) at (79bp,106bp) [state] {$\{q_{5},q_{8}\}$};
  \draw [->] (q0) ..controls (72bp,340bp) and (65bp,323bp)  .. node[auto] {$\overline{b}$} (q1);
  \draw [->] (q1) ..controls (55bp,259bp) and (57bp,252bp)  .. (60bp,246bp) .. controls (63bp,238bp) and (66bp,229bp)  .. node[auto] {$\overline{a}$} (q2);
  \draw [->] (q4) ..controls (51bp,46bp) and (52bp,59bp)  .. (56bp,70bp) .. controls (57bp,74bp) and (59bp,78bp)  .. node[auto] {$\tau$} (q3);
  \draw [->] (q4) ..controls (47bp,50bp) and (44bp,70bp)  .. (43bp,88bp) .. controls (38bp,150bp) and (41bp,166bp)  .. (41bp,230bp) .. controls (40bp,237bp) and (40bp,238bp)  .. (41bp,246bp) .. controls (41bp,249bp) and (41bp,252bp)  .. node[auto] {$\tau$} (q1);
  \draw [->] (q2) ..controls (79bp,164bp) and (79bp,148bp)  .. node[auto] {$\tau$} (q3);
  \draw [->] (q2) ..controls (81bp,236bp) and (84bp,280bp)  .. (85bp,318bp) .. controls (85bp,326bp) and (85bp,334bp)  .. node[auto] {$\tau$} (q0);
  \draw [->] (q2) ..controls (50bp,221bp) and (46bp,239bp)  .. node[auto] {$\tau$} (q1);
  \draw [->] (q3) ..controls (69bp,76bp) and (64bp,60bp)  .. node[auto] {$c$} (q4);
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\end{tikzpicture}
% End of code

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\end{document}
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